https://github.com/thespaceegg/mksservocan
Arduino ESP32 library for controlling MKS SERVO42D/57D closed‑loop stepper drivers over CAN.
https://github.com/thespaceegg/mksservocan
closed-loop-control esp32 makerbase
Last synced: 29 days ago
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Arduino ESP32 library for controlling MKS SERVO42D/57D closed‑loop stepper drivers over CAN.
- Host: GitHub
- URL: https://github.com/thespaceegg/mksservocan
- Owner: TheSpaceEgg
- Created: 2025-04-17T16:22:01.000Z (about 1 month ago)
- Default Branch: main
- Last Pushed: 2025-04-18T00:37:49.000Z (about 1 month ago)
- Last Synced: 2025-04-18T06:58:40.317Z (about 1 month ago)
- Topics: closed-loop-control, esp32, makerbase
- Language: C++
- Homepage:
- Size: 17.6 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# MKSServoCAN
Arduino library for controlling **MKS SERVO42D/57D** closed‑loop stepper drivers over CAN.
---
## Features
- Full support for all official MKS CAN commands (position, speed, homing, I/O, parameters, protection, emergency stop, etc.)
- Automatic CRC calculation and frame encoding
- Pluggable CAN‑bus backend via the `ICanBus` interface
- **TWAI on ESP32** (built‑in)
- **SPI/MCP2515** support (tested)
- Human‑friendly response decoding with `pollResponses()`
---
## Installation
1. Clone into your Arduino libraries folder if not available in **Library Manager**:
```bash
cd ~/Arduino/libraries
git clone https://github.com/YourUser/MKSServoCAN.git
```
2. **For ESP32/TWAI**: ensure your ESP32 board definitions are installed.
3. **For MCP2515**: install the [MCP_CAN library](https://github.com/coryjfowler/MCP_CAN_lib) (e.g. via Library Manager) and include ``.
---
## Quick Start Examples
### ESP32 + TWAI
```cpp
#include
#include
#include
#define MOTOR_ID 1
TwaiCan bus(GPIO_NUM_27, GPIO_NUM_26);
void setup() {
Serial.begin(115200);
while (!Serial);
if (!MKSServoCAN::begin(&bus)) {
Serial.println("CAN init failed");
while (1);
}
MKSServoCAN::goHome(MOTOR_ID);
}
void loop() {
MKSServoCAN::pollResponses();
}
```
### SPI + MCP2515
```cpp
#include
#include
#include
#define MOTOR_ID 1
#define MCP_MISO 19
#define MCP_MOSI 23
#define MCP_SCLK 18
#define MCP_CS 5
#define MCP_INT 17
McpCan bus(
MCP_MISO,
MCP_MOSI,
MCP_SCLK,
MCP_CS,
MCP_INT,
CAN_500KBPS
);
void setup() {
Serial.begin(115200);
while (!Serial);
if (!MKSServoCAN::begin(&bus)) {
Serial.println("CAN init failed");
while (1);
}
MKSServoCAN::goHome(MOTOR_ID);
}
void loop() {
MKSServoCAN::pollResponses();
}
```
---
## Command Reference
_All functions take a **device ID** (1–2047)._
### Status Reads
| Function | Code | Description |
|----------------------------|------|--------------------------------------|
| `readEncoderCarry(id)` | 0x30 | 32‑bit carry + 14‑bit current value |
| `readEncoderAdd(id)` | 0x31 | 48‑bit cumulative encoder count |
| `readSpeed(id)` | 0x32 | Real‑time RPM |
| `readPulses(id)` | 0x33 | 32‑bit pulse count |
| `readIOstatus(id)` | 0x34 | 8‑bit I/O port status |
| `readRawEncoder(id)` | 0x35 | Raw 48‑bit encoder count |
| `readAngleError(id)` | 0x39 | Angle error (ticks) |
| `readEnablePin(id)` | 0x3A | EN‑pin state |
| `readZeroStatus(id)` | 0x3B | Zero‑on‑power return status |
| `releaseProtection(id)` | 0x3D | Release locked‑rotor protection |
| `readProtectState(id)` | 0x3E | Protection active (yes/no) |
### Parameter Configuration
| Function | Code | Description |
|-----------------------------------------|------|----------------------------------------|
| `calibrate(id)` | 0x80 | Encoder calibration |
| `setWorkMode(id, mode)` | 0x82 | 0=CR_OPEN…5=SR_vFOC |
| `setCurrent(id, ma)` | 0x83 | Working current (mA) |
| `setMicrostep(id, steps)` | 0x84 | Micro‑step subdivision |
| `setEnActive(id, lvl)` | 0x85 | EN‑pin active level |
| `setDirection(id, dir)` | 0x86 | 0=CW,1=CCW |
| `setAutoSleep(id, enable)` | 0x87 | Auto turn‑off OLED |
| `setProtect(id, enable)` | 0x88 | Locked‑rotor protection |
| `setInterpolator(id, enable)` | 0x89 | Subdivision interpolation |
| `setHoldCurrent(id, pct)` | 0x9B | Holding current percentage |
| `setCanRate(id, rate)` | 0x8A | CAN bit rate (0=125k…3=1M) |
| `setCanId(id, newId)` | 0x8B | Change device CAN ID |
| `setCanResponse(id, resp, act)` | 0x8C | Slave respond & active flags |
| `setGroupId(id, gid)` | 0x8D | Group address |
| `setKeylock(id, lock)` | 0x8F | Front‑panel key lock/unlock |
### Homing & Limits
| Function | Code | Description |
|------------------------------------------------|------|----------------------------------|
| `setHomeParams(id, trig, dir, spd, lim, mode)` | 0x90 | Configure homing |
| `goHome(id)` | 0x91 | Execute homing |
| `setZeroPoint(id)` | 0x92 | Define current position as zero |
| `setNoLimitReturn(id, angle, ma)` | 0x94 | “No‑limit” return parameters |
| `setLimitRemap(id, enable)` | 0x9E | Remap limit switches |
### Utilities
| Function | Code | Description |
|-----------------------------------------|----------|----------------------------------------|
| `setZeroMode(id, mode, en, speed, dir)` | 0x9A | Zero on power‑up behaviour |
| `restoreDefaults(id)` | 0x3F | Reset to factory parameters |
| `restart(id)` | 0x41 | Restart firmware |
| `setEnTrigger(id, eTrig, pProt, tim, err)` | 0x9D | EN‑trigger zero & pos‑error prot. |
| `readSystemParam(id, code)` | 0x00+code| Read arbitrary system parameter |
### Motion & Control
| Function | Code | Description |
|---------------------------------------------|--------------|-------------------------------------|
| `queryStatus(id)` | 0xF1 | Motor status |
| `enableMotor(id, enable)` | 0xF3 | Enable/disable motor |
| `emergencyStop(id)` | 0xF7 | Emergency stop |
| `speedMode(id, speed, accel, ccw)` | 0xF6 | Constant speed mode |
| `speedModeStop(id)` | 0xF6 (acc=0) | Stop speed mode |
| `speedState(id, save)` | 0xFF | Save/clear speed parameters |
| `posRelative(id, pulses, speed, accel, ccw)`| 0xFD | Relative‑pulse move |
| `posRelativeStop(id)` | 0xFD (acc=0) | Stop relative move |
| `posAbsolute(id, axis, speed, accel)` | 0xFE | Absolute‑position move |
| `posAbsoluteStop(id)` | 0xFE (acc=0) | Stop absolute move |
| `posAxis(id, relAxis, speed, accel)` | 0xF4 | Relative‑axis move |
| `posAxisStop(id)` | 0xF4 (acc=0) | Stop axis move |
---
## Supported Hardware
- **ESP32 WROOM** with built‑in TWAI peripheral
- **Waveshare SN65HVD230** CAN transceiver
- **MCP2515** SPI‑to‑CAN bridge (3.3 V logic + 5 V VCC)
- **MKS SERVO42D/57D** driver modules
---
## Future Plans
- Support for A/B/C/D/E variants of the SERVO42/57 drivers
- Additional SPI‑based CAN backends (e.g. on AVR, STM32, Arduino Uno)
- Linux SBC support (Raspberry Pi, Jetson)
- Expanded MCU compatibility (Due, Teensy, etc.)
- Collaborative hardware compatibility matrix — **please share your test results!**
---
## External Resources
- Official MKS SERVO42C repo: https://github.com/makerbase-motor/MKS-SERVO42C
- Official MKS SERVO57D repo: https://github.com/makerbase-motor/MKS-SERVO57D
---
## Contributing
Pull requests and issues welcome. When submitting, please include your:
- MCU type
- CAN transceiver model
- Hardware wiring (pin assignments)
- Test outcome (working/non‑working)
---
## License
Creative Commons Attribution‑NonCommercial 4.0 International
(CC BY‑NC 4.0)
Anyone may copy, share, modify, and distribute this code with attribution to **Will Hickmott**.
Commercial use (selling, bundling in a paid product, etc.) is **forbidden**.